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The intelligentization of unmanned surface vehicles (USVs) has recently attracted intensive interest. Visual perception of the water scenes is critical for the autonomous navigation of USVs. In this paper, an adaptive semantic segmentation method is proposed to recognize the water scenes. A semantic segmentation network model is designed to classify each pixel of an image into water, land or sky. The segmentation result is refined by the conditional random field (CRF) method. It is furtherdoi:10.3390/electronics9020213 fatcat:jw7iyy5oizbk7o5fdnyrjgchhi